Robot Modeling and Control

Robot Modeling and Control introduces the fundamentals of
robot modeling and control and provides background material on
terminology, linear algebra, dynamical systems and stability
theory, followed by detailed coverage of forward and in-verse
kinematics, Jacobians, Lagrangian dynamics, motion planning, robust
and adaptive motion and force control, and com-puter vision.
Both basic and advanced material is presented in a style that is
readable and mathematically rigorous. The book provides
relevant applications from industrial robotics and mobile robotics.
Suitable for a one or two term course, this text is appropriate for
undergraduate and graduate students from electrical engineering,
mechanical engineering, computer science, and mathematics and can
be used as a research reference. Many detailed worked examples and
extensive problems illustrate theory and point the reader to more
advanced topics.

Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.

Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.

Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India’s Ministry of Defense.

Computable treatment of kinematics and jacobians allows
students to derive and compute the forward kinematics, inverse
kinematics, and Jacobians for the most common robot designs.
No other text offers both the detailed theoretical development and
step-by-step computational approach to kinematics. All
formulas are rigorously derived and proved. For examples, see
separate chapters on kinematics and on Jacobians that contain both
step-by-step formulas and worked examples.

Vision and visual servo control provide a self contained
introduction to the basics of computer vision as applied to robot
manipulator. Students will be able to program robots to
manipulate objects sensed by cameras. Many instructors have
indicated a need for a text that includes computer vision in
addition to kinematics and dynamics. See chapters on vision
and vision-based control.

Detailed treatment of dynamics allows students to
compute the dynamics of the most common manipulator designs after
reading the dynamics chapter. Lagrange’s equations are
derived from first principles and applied to robotics. The
treatment is rigorous and complete.

Basic treatment of geometric nonlinear control is
presented in a more basic and readable form than in more advanced
texts. Students will be able to study research articles and
advanced texts more easily after going through this material. An
entire chapter is devoted to this topic with worked examples on
feedback linearization and control of nonholonomic systems such as
mobile robots.

Advanced material is self-contained and easy to
present. See the section on feedback linearization of
flexible joint robots.